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310 lines
9.0 KiB
C++
310 lines
9.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016-2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file input_mavlink.cpp
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* @author Leon Müller (thedevleon)
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* @author Beat Küng <beat-kueng@gmx.net>
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*
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*/
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#include "input_mavlink.h"
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_roi.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_command_ack.h>
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#include <uORB/topics/position_setpoint_triplet.h>
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#include <drivers/drv_hrt.h>
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#include <px4_defines.h>
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#include <px4_posix.h>
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#include <errno.h>
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namespace vmount
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{
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InputMavlinkROI::InputMavlinkROI()
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{
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}
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InputMavlinkROI::~InputMavlinkROI()
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{
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if (_vehicle_roi_sub >= 0) {
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orb_unsubscribe(_vehicle_roi_sub);
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}
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if (_position_setpoint_triplet_sub >= 0) {
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orb_unsubscribe(_position_setpoint_triplet_sub);
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}
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}
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int InputMavlinkROI::initialize()
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{
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_vehicle_roi_sub = orb_subscribe(ORB_ID(vehicle_roi));
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if (_vehicle_roi_sub < 0) {
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return -errno;
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}
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_position_setpoint_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
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if (_position_setpoint_triplet_sub < 0) {
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return -errno;
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}
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return 0;
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}
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int InputMavlinkROI::update_impl(unsigned int timeout_ms, ControlData **control_data, bool already_active)
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{
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// already_active is unused, we don't care what happened previously.
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// Default to no change, set if we receive anything.
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*control_data = nullptr;
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const int num_poll = 2;
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px4_pollfd_struct_t polls[num_poll];
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polls[0].fd = _vehicle_roi_sub;
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polls[0].events = POLLIN;
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polls[1].fd = _position_setpoint_triplet_sub;
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polls[1].events = POLLIN;
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int ret = px4_poll(polls, num_poll, timeout_ms);
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if (ret < 0) {
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return -errno;
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}
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if (ret == 0) {
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// Timeout, _control_data is already null
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} else {
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if (polls[0].revents & POLLIN) {
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vehicle_roi_s vehicle_roi;
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orb_copy(ORB_ID(vehicle_roi), _vehicle_roi_sub, &vehicle_roi);
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_control_data.gimbal_shutter_retract = false;
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if (vehicle_roi.mode == vehicle_roi_s::VEHICLE_ROI_NONE) {
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_control_data.type = ControlData::Type::Neutral;
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*control_data = &_control_data;
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} else if (vehicle_roi.mode == vehicle_roi_s::VEHICLE_ROI_WPNEXT) {
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_read_control_data_from_position_setpoint_sub();
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_control_data.type_data.lonlat.roll_angle = 0.f;
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_control_data.type_data.lonlat.pitch_fixed_angle = -10.f;
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*control_data = &_control_data;
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} else if (vehicle_roi.mode == vehicle_roi_s::VEHICLE_ROI_WPINDEX) {
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//TODO how to do this?
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} else if (vehicle_roi.mode == vehicle_roi_s::VEHICLE_ROI_LOCATION) {
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control_data_set_lon_lat(vehicle_roi.lon, vehicle_roi.lat, vehicle_roi.alt);
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*control_data = &_control_data;
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} else if (vehicle_roi.mode == vehicle_roi_s::VEHICLE_ROI_TARGET) {
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//TODO is this even suported?
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}
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_cur_roi_mode = vehicle_roi.mode;
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//set all other control data fields to defaults
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for (int i = 0; i < 3; ++i) {
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_control_data.stabilize_axis[i] = false;
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}
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}
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// check whether the position setpoint got updated
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if ((polls[1].revents & POLLIN) && _cur_roi_mode == vehicle_roi_s::VEHICLE_ROI_WPNEXT) {
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_read_control_data_from_position_setpoint_sub();
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*control_data = &_control_data;
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}
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}
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return 0;
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}
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void InputMavlinkROI::_read_control_data_from_position_setpoint_sub()
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{
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position_setpoint_triplet_s position_setpoint_triplet;
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orb_copy(ORB_ID(position_setpoint_triplet), _position_setpoint_triplet_sub, &position_setpoint_triplet);
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_control_data.type_data.lonlat.lon = position_setpoint_triplet.next.lon;
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_control_data.type_data.lonlat.lat = position_setpoint_triplet.next.lat;
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_control_data.type_data.lonlat.altitude = position_setpoint_triplet.next.alt;
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}
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void InputMavlinkROI::print_status()
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{
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PX4_INFO("Input: Mavlink (ROI)");
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}
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InputMavlinkCmdMount::InputMavlinkCmdMount()
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{
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}
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InputMavlinkCmdMount::~InputMavlinkCmdMount()
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{
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if (_vehicle_command_sub >= 0) {
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orb_unsubscribe(_vehicle_command_sub);
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}
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}
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int InputMavlinkCmdMount::initialize()
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{
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if ((_vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command))) < 0) {
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return -errno;
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}
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return 0;
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}
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int InputMavlinkCmdMount::update_impl(unsigned int timeout_ms, ControlData **control_data, bool already_active)
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{
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// Default to notify that there was no change.
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*control_data = nullptr;
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const int num_poll = 1;
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px4_pollfd_struct_t polls[num_poll];
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polls[0].fd = _vehicle_command_sub;
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polls[0].events = POLLIN;
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int ret = px4_poll(polls, num_poll, timeout_ms);
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if (ret < 0) {
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return -errno;
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}
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if (ret == 0) {
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// Timeout control_data already null.
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} else {
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if (polls[0].revents & POLLIN) {
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vehicle_command_s vehicle_command;
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orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &vehicle_command);
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for (int i = 0; i < 3; ++i) {
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_control_data.stabilize_axis[i] = _stabilize[i];
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}
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_control_data.gimbal_shutter_retract = false;
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if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL) {
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switch ((int)vehicle_command.param7) {
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case vehicle_command_s::VEHICLE_MOUNT_MODE_RETRACT:
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_control_data.gimbal_shutter_retract = true;
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//no break
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case vehicle_command_s::VEHICLE_MOUNT_MODE_NEUTRAL:
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_control_data.type = ControlData::Type::Neutral;
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*control_data = &_control_data;
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break;
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case vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING:
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_control_data.type = ControlData::Type::Angle;
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_control_data.type_data.angle.is_speed[0] = false;
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_control_data.type_data.angle.is_speed[1] = false;
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_control_data.type_data.angle.is_speed[2] = false;
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// vmount spec has roll on channel 0, MAVLink spec has pitch on channel 0
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_control_data.type_data.angle.angles[0] = vehicle_command.param2 * M_DEG_TO_RAD_F;
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// vmount spec has pitch on channel 1, MAVLink spec has roll on channel 1
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_control_data.type_data.angle.angles[1] = vehicle_command.param1 * M_DEG_TO_RAD_F;
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// both specs have yaw on channel 2
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_control_data.type_data.angle.angles[2] = vehicle_command.param3 * M_DEG_TO_RAD_F;
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*control_data = &_control_data;
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break;
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case vehicle_command_s::VEHICLE_MOUNT_MODE_RC_TARGETING:
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break;
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case vehicle_command_s::VEHICLE_MOUNT_MODE_GPS_POINT:
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control_data_set_lon_lat(vehicle_command.param2, vehicle_command.param1, vehicle_command.param3);
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*control_data = &_control_data;
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break;
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}
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_ack_vehicle_command(vehicle_command.command);
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} else if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONFIGURE) {
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_stabilize[0] = (uint8_t) vehicle_command.param2 == 1;
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_stabilize[1] = (uint8_t) vehicle_command.param3 == 1;
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_stabilize[2] = (uint8_t) vehicle_command.param4 == 1;
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_control_data.type = ControlData::Type::Neutral; //always switch to neutral position
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*control_data = &_control_data;
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_ack_vehicle_command(vehicle_command.command);
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}
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}
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}
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return 0;
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}
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void InputMavlinkCmdMount::_ack_vehicle_command(uint16_t command)
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{
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vehicle_command_ack_s vehicle_command_ack;
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vehicle_command_ack.timestamp = hrt_absolute_time();
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vehicle_command_ack.command = command;
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vehicle_command_ack.result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
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if (_vehicle_command_ack_pub == nullptr) {
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_vehicle_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &vehicle_command_ack,
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vehicle_command_ack_s::ORB_QUEUE_LENGTH);
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} else {
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orb_publish(ORB_ID(vehicle_command_ack), _vehicle_command_ack_pub, &vehicle_command_ack);
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}
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}
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void InputMavlinkCmdMount::print_status()
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{
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PX4_INFO("Input: Mavlink (CMD_MOUNT)");
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}
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} /* namespace vmount */
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